Robust Input Shaper Control Design for Parameter Variations in Flexible Structures

Input shaping has been shown to yield good performance in the control of flexible structures while being insensitive to modeling errors. However, previous studies do not take into account the distributions of the parameter variations. We develop a new input shaping method that allows the ranges of system parameter values to be weighted according to the expected modeling errors. Comparisons with previously proposed input shaper designs are presented to illustrate the qualities of the new input shaper design method. These new shapers will be shown to have better robustness under uncertainty in structural parameters and shorter shaper lengths for lightly damped systems.

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